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<a href="fcl__collision__requests_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * fcl_collision_requests.h</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: May 25, 2018</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef COLLISION_FCL_FCL_COLLISION_REQUESTS_H_</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define COLLISION_FCL_FCL_COLLISION_REQUESTS_H_</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="application_8h.html">collision/application.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;fcl/broadphase/broadphase_dynamic_AABB_tree.h&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;fcl/math/constants.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;fcl/narrowphase/collision.h&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;fcl/narrowphase/collision_object.h&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__collision__object_8h.html">collision/solvers/fcl/fcl_collision_object.h</a>&quot;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__collision__object__group_8h.html">collision/solvers/fcl/fcl_collision_object_group.h</a>&quot;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">class </span>CollisionChecker;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;CollisionChecker&gt; <a class="code" href="namespacecollision.html#a41db47b373df476bf4e0bd5cf7ed2d6b">CollisionCheckerPtr</a>;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;const CollisionChecker&gt; <a class="code" href="namespacecollision.html#a95bc7457b930479570887882efed9e6e">CollisionCheckerConstPtr</a>;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keyword">namespace </span>solvers {</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">namespace </span>solverFCL {</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;CollisionObject *</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ade752e39c3d2cba0e67256a22b174918">getParentPointerFromFclObj</a>(<a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *fcl_obj);</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data.html">   33</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data.html">CollisionRequestData</a> {};</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html">   35</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> : <span class="keyword">public</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data.html">CollisionRequestData</a> {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a0dac9b7083ed799ca713f22951670247">   37</a></span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a0dac9b7083ed799ca713f22951670247">CollisionRequestDataMultipleObstacles</a>(</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      std::vector&lt;CollisionObjectConstPtr&gt; &amp;ret_obstacles,</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <span class="keyword">const</span> std::unordered_map&lt;<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> *,</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;                               std::list&lt;CollisionObjectConstPtr&gt;&gt; &amp;parent_map,</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      <span class="keywordtype">int</span> max_obstacles)</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      : <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#af91fe39a3266edbd68979bec065d5f91">m_obstacles</a>(ret_obstacles), <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a827371d8b466d06e2b70782196a89785">m_parent_map</a>(parent_map),</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a4627053305944ae47c2353c320405204">m_max_obstacles</a>(max_obstacles){</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        };</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a9d50ef30918909309661a29113a99c3b">addRequestResultObstacle</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> *obst);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a68052df11365a134b1b2ac718979c340">testPair</a>(std::pair&lt;<a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *,</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;                          <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *&gt;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                    pair);</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#aa0361bc044498b16678c778cf1149c78">   53</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#aa0361bc044498b16678c778cf1149c78">setMaxObstacles</a>(<span class="keywordtype">int</span> max_obstacles) { <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a4627053305944ae47c2353c320405204">m_max_obstacles</a> = max_obstacles; }</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a5ab0b179704070d529bb61bf0616ab2b">   55</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a5ab0b179704070d529bb61bf0616ab2b">getMaxObstacles</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a4627053305944ae47c2353c320405204">m_max_obstacles</a>; }</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a8c673e9dfdd12701e1a837793e83cf49">   57</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a8c673e9dfdd12701e1a837793e83cf49">setSubjectEntitySize</a>(<a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *obj) {</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a454200d81b23a9b204f7924e7e48818a">m_subject_group_size</a> = -1; <span class="comment">// only for comparison to determine object order</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;                               <span class="comment">// in broadphase callback</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  }</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">void</span></div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#acdbae0a2a4bc5c49558d269546f1bfdc">   62</a></span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#acdbae0a2a4bc5c49558d269546f1bfdc">setSubjectEntitySize</a>(fcl::BroadPhaseCollisionManager&lt;FCL_PRECISION&gt; *mngr) {</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a454200d81b23a9b204f7924e7e48818a">m_subject_group_size</a> = mngr-&gt;size();</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  }</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ae8c9e75e9440c63c762994a37459b9fc">   66</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ae8c9e75e9440c63c762994a37459b9fc">setTargetMngrSize</a>(<span class="keywordtype">int</span> size) { <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a2b3c4b414777bbdaef61c9fd6e612899">m_target_mngr_size</a> = size; }</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ae4849cc4cc55850bdd5513ef743fd744">   68</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ae4849cc4cc55850bdd5513ef743fd744">setObstacleCallbackOrder</a>(<span class="keywordtype">void</span>) {</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ab748d4888cef2920c80c9a33d1b2daae">m_obstacle_callback_first</a> = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a2b3c4b414777bbdaef61c9fd6e612899">m_target_mngr_size</a> &lt; <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a454200d81b23a9b204f7924e7e48818a">m_subject_group_size</a>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  }</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a7ee4275ef96dd1c87207a6ce531f7bdc">   72</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a7ee4275ef96dd1c87207a6ce531f7bdc">getObstacleCallbackOrder</a>(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordflow">return</span> !<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ab748d4888cef2920c80c9a33d1b2daae">m_obstacle_callback_first</a>;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  }</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#abe827612e28013062172e3859cd88dac">   76</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#abe827612e28013062172e3859cd88dac">setUngroupShapeGroups</a>(<span class="keywordtype">bool</span> val) { <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ae33df5e92f259912e648ef3415353f3c">m_ungroup_sg</a> = val; }</div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a57cb09c6843bfa73c08e971beb8e4997">   77</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a57cb09c6843bfa73c08e971beb8e4997">setUngroupTvObstacles</a>(<span class="keywordtype">bool</span> val) { <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a0e7e1372fb1486c2434d2ed95ff196ad">m_ungroup_tvobst</a> = val; }</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a618358d9fa7ce3b627b491f61f0d538e">   79</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a618358d9fa7ce3b627b491f61f0d538e">setAllObst_added</a>(<span class="keywordtype">void</span>) { <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a7bd7ab5654e4dc9aa4ef28a0474adc55">m_finished</a> = <span class="keyword">true</span>; }</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ac910bddee705cf43ad30612c58ecb1c4">   81</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ac910bddee705cf43ad30612c58ecb1c4">getAllObstAdded</a>(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a7bd7ab5654e4dc9aa4ef28a0474adc55">m_finished</a>; 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 <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a454200d81b23a9b204f7924e7e48818a">m_subject_group_size</a>;</div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a2b3c4b414777bbdaef61c9fd6e612899">   87</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a2b3c4b414777bbdaef61c9fd6e612899">m_target_mngr_size</a>;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keyword">const</span> std::unordered_map&lt;<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> *,</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a827371d8b466d06e2b70782196a89785">   89</a></span>&#160;                           std::list&lt;CollisionObjectConstPtr&gt;&gt; &amp;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a827371d8b466d06e2b70782196a89785">m_parent_map</a>;</div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a85449ffab46bdfc734f5b5148f89a262">   90</a></span>&#160;  std::unordered_map&lt;const CollisionObject *, bool&gt; <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a85449ffab46bdfc734f5b5148f89a262">m_added_map</a>;</div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a7293bf066387ca0ee33425842c5d81b9">   91</a></span>&#160;  std::unordered_map&lt;const CollisionObject *, bool&gt; 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 <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ab748d4888cef2920c80c9a33d1b2daae">m_obstacle_callback_first</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a0e7e1372fb1486c2434d2ed95ff196ad">   96</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a0e7e1372fb1486c2434d2ed95ff196ad">m_ungroup_tvobst</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ae33df5e92f259912e648ef3415353f3c">   97</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ae33df5e92f259912e648ef3415353f3c">m_ungroup_sg</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a7bd7ab5654e4dc9aa4ef28a0474adc55">   98</a></span>&#160; 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 <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a1b2b0426cef2a3d66f29affeba1076e0">CollisionRequestDataWindowQuery</a>(</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *subject_object,</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      std::vector&lt;const CollisionObject *&gt; &amp;result,</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keyword">const</span> std::unordered_map&lt;<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">collision::CollisionObject</a> *,</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                               std::list&lt;CollisionObjectConstPtr&gt;&gt; &amp;parent_map)</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; 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 <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a79959c89dd97acd563d023cf35fe5c14">getSubjectObject</a>(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#ad58833877cdff090faba9dfe590112dd">m_subject_object</a>;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  }</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#ad58833877cdff090faba9dfe590112dd">  119</a></span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#ad58833877cdff090faba9dfe590112dd">m_subject_object</a>;</div><div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a6515a40d8b814e8d1b936a8bfe300571">  120</a></span>&#160;  std::vector&lt;const CollisionObject *&gt; &amp;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a6515a40d8b814e8d1b936a8bfe300571">m_result</a>;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keyword">const</span> std::unordered_map&lt;<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> *,</div><div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a5d310e8221ff7ffe54d6419b46f28e70">  122</a></span>&#160; 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 <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a992966afc5a978f810fbf3d149962264">CollisionRequestDataOverlap</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a> *cont_1,</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;                              <span class="keyword">const</span> <a class="code" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a> *cont_2)</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      : <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a30e85acdc266277c6460be916ac8c580">m_cont_1</a>(cont_1), <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#ac76ce74633a8b9ae104fc0ea746cbc5c">m_cont_2</a>(cont_2){};</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; 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 <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#af3243243f08bb162de5127d207530b60">set_debug_pairs</a>(std::vector&lt;std::pair&lt;int, int&gt;&gt; pairs_in) {</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a8dc2d1c8bc1c38501d7f1c51af250cbc">m_Debug_Pairs</a> = pairs_in;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  }</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a1fa8afc68707dbaac6fdb07e39c8cbf4">  143</a></span>&#160; 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}</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  std::set&lt;std::pair&lt;fcl::CollisionObject&lt;FCL_PRECISION&gt; *,</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                     <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *&gt;&gt;</div><div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a4591c0f401f73e2a979a5ea81c470fbe">  153</a></span>&#160;      <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a4591c0f401f73e2a979a5ea81c470fbe">checkedPairs</a>;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a30e85acdc266277c6460be916ac8c580">  156</a></span>&#160; 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}</div><div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_ex.html#a638544565ffaf6948023a783d34c93ae">  183</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_ex.html#a638544565ffaf6948023a783d34c93ae">get_result</a>(<span class="keywordtype">void</span>) { <span class="keywordflow">return</span> m_bool_result; }</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="keywordtype">bool</span> m_bool_result;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;};</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;</div><div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html">  189</a></span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> S&gt; 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 <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html#ab1e9150944fedd8e6d6dc9798e9e1d48">CollisionDataOverlap</a>(<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html">CollisionRequestDataOverlap</a> &amp;reqData)</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      : <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html#aa495f61b33d53fd000420caff0c4fef0">self_reqData</a>(reqData) {}</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;};</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> S&gt;</div><div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html">  197</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html">CollisionDataListOfObstacles</a> : <span class="keyword">public</span> <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_ex.html">CollisionDataEx</a>&lt;S&gt; {</div><div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html#aa72770203bd5bcdeffee53841a5f2bde">  198</a></span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> &amp;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html#aa72770203bd5bcdeffee53841a5f2bde">self_reqData</a>;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div><div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html#ada13a4225519176b675b1e877193905e">  200</a></span>&#160;  <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html#ada13a4225519176b675b1e877193905e">CollisionDataListOfObstacles</a>(<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> &amp;reqData)</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      : <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html#aa72770203bd5bcdeffee53841a5f2bde">self_reqData</a>(reqData) {}</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;};</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> S&gt;</div><div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query.html">  204</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query.html">CollisionDataWindowQuery</a> : <span class="keyword">public</span> <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_ex.html">CollisionDataEx</a>&lt;S&gt; {</div><div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query.html#ada137f65048438c4d0c76c6cbc712e07">  205</a></span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html">CollisionRequestDataWindowQuery</a> &amp;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query.html#ada137f65048438c4d0c76c6cbc712e07">self_reqData</a>;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;</div><div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query.html#ade5f42f1667f630222d92269c9a4fe13">  207</a></span>&#160;  <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query.html#ade5f42f1667f630222d92269c9a4fe13">CollisionDataWindowQuery</a>(<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html">CollisionRequestDataWindowQuery</a> &amp;reqData)</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      : <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query.html#ada137f65048438c4d0c76c6cbc712e07">self_reqData</a>(reqData) {}</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;};</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> S&gt;</div><div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa79198449b58b10b1c5daf62bb884ccf">  212</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa79198449b58b10b1c5daf62bb884ccf">defaultCollisionFunctionWindowQuery</a>(<a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;S&gt;</a> *o1,</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;                                         <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;S&gt;</a> *o2,</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;                                         <span class="keywordtype">void</span> *cdata_) {</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="keyword">auto</span> *cdata = <span class="keyword">static_cast&lt;</span><a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query.html">CollisionDataWindowQuery&lt;S&gt;</a> *<span class="keyword">&gt;</span>(cdata_);</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keyword">const</span> <span class="keyword">auto</span> &amp;request = cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a3998dd02d15239f4e3b6efc166f6f91d">request</a>;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <span class="keywordflow">if</span> (cdata-&gt;done)</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="keyword">const</span> <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;S&gt;</a> *subj_obj =</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      cdata-&gt;self_reqData.getSubjectObject();</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="keywordflow">if</span> (o1 == subj_obj)</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  {</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    cdata-&gt;self_reqData.addRequestResultObstacle(</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ade752e39c3d2cba0e67256a22b174918">getParentPointerFromFclObj</a>(o2));</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (o2 == subj_obj) {</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    cdata-&gt;self_reqData.addRequestResultObstacle(</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ade752e39c3d2cba0e67256a22b174918">getParentPointerFromFclObj</a>(o1));</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  }</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <span class="keywordflow">return</span> cdata-&gt;done;</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;}</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="comment">template &lt;typename S&gt;</span></div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="comment">bool defaultprimitveCollisionFunction(solverFCL::CollisionObject&lt;S&gt;* o1,</span></div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="comment">solverFCL::CollisionObject&lt;S&gt;* o2, void* cdata_)</span></div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="comment">auto* cdata = static_cast&lt;CollisionData&lt;S&gt;*&gt;(cdata_);</span></div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="comment">const auto&amp; request = cdata-&gt;request;</span></div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="comment">auto&amp; result = cdata-&gt;result;</span></div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="comment">const CollisionObject* obj1_entity=getParentPointerFromFclObj(o1);</span></div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;<span class="comment">const CollisionObject* obj2_entity=getParentPointerFromFclObj(o2);</span></div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;<span class="comment">if(obj1_entity-&gt;collide(*obj2_entity,CollisionRequest(COL_PRIMITIVE)))</span></div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="comment">solverFCL::Contact&lt;double&gt; cont;</span></div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="comment">result.addContact(cont);</span></div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="comment">return true;</span></div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;<span class="comment">else</span></div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="comment">return false;</span></div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="comment">//cdata-&gt;result.addContact();</span></div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="comment">*/</span></div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> S&gt;</div><div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a569a5c927419e6c525a29a258752cf24">  260</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a569a5c927419e6c525a29a258752cf24">defaultCollisionFunction</a>(<a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;S&gt;</a> *o1,</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;                              <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;S&gt;</a> *o2, <span class="keywordtype">void</span> *cdata_) {</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  <span class="keyword">auto</span> *cdata = <span class="keyword">static_cast&lt;</span><a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html">CollisionData&lt;S&gt;</a> *<span class="keyword">&gt;</span>(cdata_);</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <span class="keyword">const</span> <span class="keyword">auto</span> &amp;request = cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a3998dd02d15239f4e3b6efc166f6f91d">request</a>;</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="keyword">auto</span> &amp;result = cdata-&gt;result;</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; 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                                    <span class="keywordtype">void</span> *cdata_) {</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html">CollisionDataOverlap&lt;S&gt;</a> *cdata =</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      <span class="keyword">static_cast&lt;</span><a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html">CollisionDataOverlap&lt;S&gt;</a> *<span class="keyword">&gt;</span>(cdata_);</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  fcl::CollisionRequest&lt;S&gt; *request = &amp;(cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a3998dd02d15239f4e3b6efc166f6f91d">request</a>);</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  fcl::CollisionResult&lt;S&gt; *result = &amp;(cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#aba9199b3277116f3d66f4e71131a19a4">result</a>);</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <span class="keywordflow">if</span> (cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a7e245d5e1d3b58e368cdd4fa863243d2">done</a>)</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  <span class="keyword">const</span> <span class="keyword">auto</span> &amp;pair_obj =</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      std::pair&lt;fcl::CollisionObject&lt;S&gt; *, <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;S&gt;</a> *&gt;(o1, o2);</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <span class="comment">// TODO: if collision detected earlier - don&#39;t check again!</span></div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  <span class="keyword">auto</span> &amp;checked_pairs = cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html#aa495f61b33d53fd000420caff0c4fef0">self_reqData</a>.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a4591c0f401f73e2a979a5ea81c470fbe">checkedPairs</a>;</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="keyword">auto</span> search = checked_pairs.find(pair_obj);</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keywordflow">if</span> (search != checked_pairs.end())</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  fcl::collide(o1, o2, *request, *result);</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  checked_pairs.emplace(pair_obj);</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  <span class="keywordflow">if</span> (cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#aba9199b3277116f3d66f4e71131a19a4">result</a>.isCollision()) {</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    (cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#aba9199b3277116f3d66f4e71131a19a4">result</a>).clear();</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> *obj1_entity = <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ade752e39c3d2cba0e67256a22b174918">getParentPointerFromFclObj</a>(o1);</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> *obj2_entity = <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ade752e39c3d2cba0e67256a22b174918">getParentPointerFromFclObj</a>(o2);</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="keywordflow">if</span> (obj1_entity &amp;&amp; obj2_entity) {</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      std::list&lt;int&gt; cont1_obj1_list;</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      std::list&lt;int&gt; cont1_obj2_list;</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      std::list&lt;int&gt; cont2_obj1_list;</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      std::list&lt;int&gt; cont2_obj2_list;</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      <span class="keywordtype">int</span> res_cont1_obj1 =</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;          cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html#aa495f61b33d53fd000420caff0c4fef0">self_reqData</a>.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a4d2906fca7e4a2a368ce5038f284567f">get_cont_1</a>()-&gt;<a class="code" href="classcollision_1_1_i_collision_container.html#aecf06ebcb250e9666348b566ba03ad49">queryContainedObjectIndexList</a>(</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;              obj1_entity, cont1_obj1_list);</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      <span class="keywordtype">int</span> res_cont1_obj2 =</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;          cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html#aa495f61b33d53fd000420caff0c4fef0">self_reqData</a>.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a4d2906fca7e4a2a368ce5038f284567f">get_cont_1</a>()-&gt;<a class="code" href="classcollision_1_1_i_collision_container.html#aecf06ebcb250e9666348b566ba03ad49">queryContainedObjectIndexList</a>(</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;              obj2_entity, cont1_obj2_list);</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      <span class="keywordtype">int</span> res_cont2_obj1 =</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;          cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html#aa495f61b33d53fd000420caff0c4fef0">self_reqData</a>.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#aceaf2e54b3deeb541c1d90a4e6cd6a14">get_cont_2</a>()-&gt;<a class="code" href="classcollision_1_1_i_collision_container.html#aecf06ebcb250e9666348b566ba03ad49">queryContainedObjectIndexList</a>(</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;              obj1_entity, cont2_obj1_list);</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      <span class="keywordtype">int</span> res_cont2_obj2 =</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;          cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html#aa495f61b33d53fd000420caff0c4fef0">self_reqData</a>.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#aceaf2e54b3deeb541c1d90a4e6cd6a14">get_cont_2</a>()-&gt;<a class="code" href="classcollision_1_1_i_collision_container.html#aecf06ebcb250e9666348b566ba03ad49">queryContainedObjectIndexList</a>(</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;              obj2_entity, cont2_obj2_list);</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      <span class="keywordflow">if</span> (!res_cont1_obj1 &amp;&amp; !res_cont2_obj1) <span class="comment">// obj1 is in both containers</span></div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      {</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;        cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html#aa495f61b33d53fd000420caff0c4fef0">self_reqData</a>.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a5dcace2f797cc63e38ad778ae1c06dc1">addRequestResultList</a>(cont1_obj1_list,</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;                                                 cont2_obj1_list);</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      }</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      <span class="keywordflow">if</span> (!res_cont1_obj2 &amp;&amp; !res_cont2_obj2) <span class="comment">// obj2 is in both containers</span></div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      {</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html#aa495f61b33d53fd000420caff0c4fef0">self_reqData</a>.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a5dcace2f797cc63e38ad778ae1c06dc1">addRequestResultList</a>(cont1_obj2_list,</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;                                                 cont2_obj2_list);</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      }</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      <span class="keywordflow">if</span> (!res_cont1_obj1 &amp;&amp;</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;          !res_cont2_obj2) <span class="comment">// obj1 in container 1, obj2 in container 2</span></div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      {</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html#aa495f61b33d53fd000420caff0c4fef0">self_reqData</a>.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a5dcace2f797cc63e38ad778ae1c06dc1">addRequestResultList</a>(cont1_obj1_list,</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;                                                 cont2_obj2_list);</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      }</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      <span class="keywordflow">if</span> (!res_cont1_obj2 &amp;&amp;</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;          !res_cont2_obj1) <span class="comment">// obj1 in container 1, obj2 in container 2</span></div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      {</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html#aa495f61b33d53fd000420caff0c4fef0">self_reqData</a>.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a5dcace2f797cc63e38ad778ae1c06dc1">addRequestResultList</a>(cont1_obj2_list,</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;                                                 cont2_obj1_list);</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      }</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    }</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  }</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  <span class="keywordflow">return</span> cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a7e245d5e1d3b58e368cdd4fa863243d2">done</a>;</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;}</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> S&gt;</div><div class="line"><a name="l00359"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a9ed120c3e011ded33afae5f974071e5c">  359</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a9ed120c3e011ded33afae5f974071e5c">defaultCollisionFunctionListOfObstacles</a>(<a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;S&gt;</a> *o1,</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;                                             <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;S&gt;</a> *o2,</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;                                             <span class="keywordtype">void</span> *cdata_) {</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  <span class="keyword">auto</span> *cdata = <span class="keyword">static_cast&lt;</span><a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html">CollisionDataListOfObstacles&lt;S&gt;</a> *<span class="keyword">&gt;</span>(cdata_);</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  <span class="keyword">const</span> <span class="keyword">auto</span> &amp;request = cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a3998dd02d15239f4e3b6efc166f6f91d">request</a>;</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  <span class="keywordflow">if</span> (cdata-&gt;done)</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;S&gt;</a> *obst = 0;</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;S&gt;</a> *subj = 0;</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  <span class="comment">// TODO: if collision detected earlier - don&#39;t check again!</span></div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  <span class="keywordflow">if</span> (cdata-&gt;self_reqData.getObstacleCallbackOrder()) {</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    obst = o1;</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    subj = o2;</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    subj = o1;</div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    obst = o2;</div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  }</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  <span class="keyword">const</span> <span class="keyword">auto</span> &amp;pair_obj =</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      std::pair&lt;fcl::CollisionObject&lt;S&gt; *, <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;S&gt;</a> *&gt;(obst,</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;                                                                      subj);</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <span class="keywordflow">if</span> (!(cdata-&gt;self_reqData.testPair(pair_obj)))</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  collide(obst, subj, request, cdata-&gt;<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#aba9199b3277116f3d66f4e71131a19a4">result</a>);</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  <span class="keywordflow">if</span> (cdata-&gt;result.isCollision()) {</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    cdata-&gt;set_result(<span class="keyword">true</span>);</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    cdata-&gt;result.clear();</div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> *obst_entity = <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ade752e39c3d2cba0e67256a22b174918">getParentPointerFromFclObj</a>(obst);</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> *subj_entity = <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ade752e39c3d2cba0e67256a22b174918">getParentPointerFromFclObj</a>(subj);</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    <span class="comment">// try to add both, as the order in the callback is undefined</span></div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    <span class="keywordflow">if</span> (cdata-&gt;self_reqData.addRequestResultObstacle(obst_entity)) {</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      cdata-&gt;self_reqData.setAllObst_added();</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    }</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    <span class="keywordflow">if</span> (cdata-&gt;self_reqData.addRequestResultObstacle(subj_entity)) {</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      cdata-&gt;self_reqData.setAllObst_added();</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    }</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  }</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  <span class="keywordflow">return</span> cdata-&gt;done;</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;}</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;</div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;} <span class="comment">// namespace solverFCL</span></div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;} <span class="comment">// namespace solvers</span></div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;</div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* COLLISION_FCL_FCL_COLLISION_REQUESTS_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_a1fa8afc68707dbaac6fdb07e39c8cbf4"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a1fa8afc68707dbaac6fdb07e39c8cbf4">collision::solvers::solverFCL::CollisionRequestDataOverlap::get_debug_pairs</a></div><div class="ttdeci">int get_debug_pairs(std::vector&lt; std::pair&lt; int, int &gt;&gt; &amp;pairs_out) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00143">fcl_collision_requests.h:143</a></div></div>
<div class="ttc" id="namespacecollision_html_a95bc7457b930479570887882efed9e6e"><div class="ttname"><a href="namespacecollision.html#a95bc7457b930479570887882efed9e6e">collision::CollisionCheckerConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionChecker &gt; CollisionCheckerConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00024">collision_checker.h:24</a></div></div>
<div class="ttc" id="classcollision_1_1_i_collision_container_html"><div class="ttname"><a href="classcollision_1_1_i_collision_container.html">collision::ICollisionContainer</a></div><div class="ttdef"><b>Definition:</b> <a href="i__collision__container_8h_source.html#l00014">i_collision_container.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_a5dcace2f797cc63e38ad778ae1c06dc1"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a5dcace2f797cc63e38ad778ae1c06dc1">collision::solvers::solverFCL::CollisionRequestDataOverlap::addRequestResultList</a></div><div class="ttdeci">void addRequestResultList(std::list&lt; int &gt; list1, std::list&lt; int &gt; list2)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8cc_source.html#l00021">fcl_collision_requests.cc:21</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query_html_a7b47e8b57acc91a490d9e7cd6c227a64"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a7b47e8b57acc91a490d9e7cd6c227a64">collision::solvers::solverFCL::CollisionRequestDataWindowQuery::m_added_map</a></div><div class="ttdeci">std::unordered_map&lt; const CollisionObject *, bool &gt; m_added_map</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00123">fcl_collision_requests.h:123</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a454200d81b23a9b204f7924e7e48818a"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a454200d81b23a9b204f7924e7e48818a">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_subject_group_size</a></div><div class="ttdeci">int m_subject_group_size</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00086">fcl_collision_requests.h:86</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a9ed120c3e011ded33afae5f974071e5c"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a9ed120c3e011ded33afae5f974071e5c">collision::solvers::solverFCL::defaultCollisionFunctionListOfObstacles</a></div><div class="ttdeci">bool defaultCollisionFunctionListOfObstacles(fcl::CollisionObject&lt; S &gt; *o1, fcl::CollisionObject&lt; S &gt; *o2, void *cdata_)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00359">fcl_collision_requests.h:359</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles_html_aa72770203bd5bcdeffee53841a5f2bde"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html#aa72770203bd5bcdeffee53841a5f2bde">collision::solvers::solverFCL::CollisionDataListOfObstacles::self_reqData</a></div><div class="ttdeci">CollisionRequestDataMultipleObstacles &amp; self_reqData</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00198">fcl_collision_requests.h:198</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_a8dc2d1c8bc1c38501d7f1c51af250cbc"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a8dc2d1c8bc1c38501d7f1c51af250cbc">collision::solvers::solverFCL::CollisionRequestDataOverlap::m_Debug_Pairs</a></div><div class="ttdeci">std::vector&lt; std::pair&lt; int, int &gt; &gt; m_Debug_Pairs</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00159">fcl_collision_requests.h:159</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_ae8c9e75e9440c63c762994a37459b9fc"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ae8c9e75e9440c63c762994a37459b9fc">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::setTargetMngrSize</a></div><div class="ttdeci">void setTargetMngrSize(int size)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00066">fcl_collision_requests.h:66</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_ac910bddee705cf43ad30612c58ecb1c4"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ac910bddee705cf43ad30612c58ecb1c4">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::getAllObstAdded</a></div><div class="ttdeci">bool getAllObstAdded(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00081">fcl_collision_requests.h:81</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_aea8f122d138436cd2a3ab90027d3923c"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#aea8f122d138436cd2a3ab90027d3923c">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::checkedPairs</a></div><div class="ttdeci">std::set&lt; std::pair&lt; fcl::CollisionObject&lt; FCL_PRECISION &gt; *, fcl::CollisionObject&lt; FCL_PRECISION &gt; * &gt; &gt; checkedPairs</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00094">fcl_collision_requests.h:94</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query_html"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query.html">collision::solvers::solverFCL::CollisionDataWindowQuery</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00204">fcl_collision_requests.h:204</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles_html_ada13a4225519176b675b1e877193905e"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html#ada13a4225519176b675b1e877193905e">collision::solvers::solverFCL::CollisionDataListOfObstacles::CollisionDataListOfObstacles</a></div><div class="ttdeci">CollisionDataListOfObstacles(CollisionRequestDataMultipleObstacles &amp;reqData)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00200">fcl_collision_requests.h:200</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_html_aba9199b3277116f3d66f4e71131a19a4"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#aba9199b3277116f3d66f4e71131a19a4">collision::solvers::solverFCL::CollisionData::result</a></div><div class="ttdeci">fcl::CollisionResult&lt; S &gt; result</div><div class="ttdoc">Collision result.</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00174">fcl_collision_requests.h:174</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_adeacb559b8e92e6d3c67134423ee85de"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#adeacb559b8e92e6d3c67134423ee85de">collision::solvers::solverFCL::CollisionRequestDataOverlap::m_ResultPairs</a></div><div class="ttdeci">std::set&lt; std::pair&lt; int, int &gt; &gt; m_ResultPairs</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00161">fcl_collision_requests.h:161</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_aa0361bc044498b16678c778cf1149c78"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#aa0361bc044498b16678c778cf1149c78">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::setMaxObstacles</a></div><div class="ttdeci">void setMaxObstacles(int max_obstacles)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00053">fcl_collision_requests.h:53</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query_html_a5d310e8221ff7ffe54d6419b46f28e70"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a5d310e8221ff7ffe54d6419b46f28e70">collision::solvers::solverFCL::CollisionRequestDataWindowQuery::m_parent_map</a></div><div class="ttdeci">const std::unordered_map&lt; const CollisionObject *, std::list&lt; CollisionObjectConstPtr &gt; &gt; &amp; m_parent_map</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00122">fcl_collision_requests.h:122</a></div></div>
<div class="ttc" id="application_8h_html"><div class="ttname"><a href="application_8h.html">application.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a5ab0b179704070d529bb61bf0616ab2b"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a5ab0b179704070d529bb61bf0616ab2b">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::getMaxObstacles</a></div><div class="ttdeci">int getMaxObstacles() const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00055">fcl_collision_requests.h:55</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap_html_aa495f61b33d53fd000420caff0c4fef0"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html#aa495f61b33d53fd000420caff0c4fef0">collision::solvers::solverFCL::CollisionDataOverlap::self_reqData</a></div><div class="ttdeci">CollisionRequestDataOverlap &amp; self_reqData</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00190">fcl_collision_requests.h:190</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_af91fe39a3266edbd68979bec065d5f91"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#af91fe39a3266edbd68979bec065d5f91">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_obstacles</a></div><div class="ttdeci">std::vector&lt; CollisionObjectConstPtr &gt; &amp; m_obstacles</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00085">fcl_collision_requests.h:85</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_html_a7e245d5e1d3b58e368cdd4fa863243d2"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a7e245d5e1d3b58e368cdd4fa863243d2">collision::solvers::solverFCL::CollisionData::done</a></div><div class="ttdeci">bool done</div><div class="ttdoc">Whether the collision iteration can stop.</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00177">fcl_collision_requests.h:177</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a0e7e1372fb1486c2434d2ed95ff196ad"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a0e7e1372fb1486c2434d2ed95ff196ad">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_ungroup_tvobst</a></div><div class="ttdeci">bool m_ungroup_tvobst</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00096">fcl_collision_requests.h:96</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a7ee4275ef96dd1c87207a6ce531f7bdc"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a7ee4275ef96dd1c87207a6ce531f7bdc">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::getObstacleCallbackOrder</a></div><div class="ttdeci">bool getObstacleCallbackOrder(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00072">fcl_collision_requests.h:72</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_acdbae0a2a4bc5c49558d269546f1bfdc"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#acdbae0a2a4bc5c49558d269546f1bfdc">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::setSubjectEntitySize</a></div><div class="ttdeci">void setSubjectEntitySize(fcl::BroadPhaseCollisionManager&lt; FCL_PRECISION &gt; *mngr)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00062">fcl_collision_requests.h:62</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_object_html"><div class="ttname"><a href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt; FCL_PRECISION &gt;</a></div></div>
<div class="ttc" id="fcl__collision__object_8h_html"><div class="ttname"><a href="fcl__collision__object_8h.html">fcl_collision_object.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00035">fcl_collision_requests.h:35</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_ex_html_ad3f2c947464b8ff9332663b15eb551e9"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_ex.html#ad3f2c947464b8ff9332663b15eb551e9">collision::solvers::solverFCL::CollisionDataEx::CollisionDataEx</a></div><div class="ttdeci">CollisionDataEx()</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00181">fcl_collision_requests.h:181</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_ae33df5e92f259912e648ef3415353f3c"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ae33df5e92f259912e648ef3415353f3c">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_ungroup_sg</a></div><div class="ttdeci">bool m_ungroup_sg</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00097">fcl_collision_requests.h:97</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a2b3c4b414777bbdaef61c9fd6e612899"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a2b3c4b414777bbdaef61c9fd6e612899">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_target_mngr_size</a></div><div class="ttdeci">int m_target_mngr_size</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00087">fcl_collision_requests.h:87</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a8c673e9dfdd12701e1a837793e83cf49"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a8c673e9dfdd12701e1a837793e83cf49">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::setSubjectEntitySize</a></div><div class="ttdeci">void setSubjectEntitySize(fcl::CollisionObject&lt; FCL_PRECISION &gt; *obj)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00057">fcl_collision_requests.h:57</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_af3243243f08bb162de5127d207530b60"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#af3243243f08bb162de5127d207530b60">collision::solvers::solverFCL::CollisionRequestDataOverlap::set_debug_pairs</a></div><div class="ttdeci">int set_debug_pairs(std::vector&lt; std::pair&lt; int, int &gt;&gt; pairs_in)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00138">fcl_collision_requests.h:138</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_html_a9dc6a53d1a2bbdc79511b3d3b6039cc5"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a9dc6a53d1a2bbdc79511b3d3b6039cc5">collision::solvers::solverFCL::CollisionData::CollisionData</a></div><div class="ttdeci">CollisionData()</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00168">fcl_collision_requests.h:168</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_a30e85acdc266277c6460be916ac8c580"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a30e85acdc266277c6460be916ac8c580">collision::solvers::solverFCL::CollisionRequestDataOverlap::m_cont_1</a></div><div class="ttdeci">const ICollisionContainer * m_cont_1</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00156">fcl_collision_requests.h:156</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_ex_html_a638544565ffaf6948023a783d34c93ae"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_ex.html#a638544565ffaf6948023a783d34c93ae">collision::solvers::solverFCL::CollisionDataEx::get_result</a></div><div class="ttdeci">bool get_result(void)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00183">fcl_collision_requests.h:183</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_ex_html_a8df76c5bbee5c4023d9bf90714323e7f"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_ex.html#a8df76c5bbee5c4023d9bf90714323e7f">collision::solvers::solverFCL::CollisionDataEx::set_result</a></div><div class="ttdeci">void set_result(bool res)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00182">fcl_collision_requests.h:182</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_ex_html"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_ex.html">collision::solvers::solverFCL::CollisionDataEx</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00180">fcl_collision_requests.h:180</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a7bd7ab5654e4dc9aa4ef28a0474adc55"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a7bd7ab5654e4dc9aa4ef28a0474adc55">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_finished</a></div><div class="ttdeci">bool m_finished</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00098">fcl_collision_requests.h:98</a></div></div>
<div class="ttc" id="namespacecollision_html_a405f2c04407997fea529aad88f04ad30"><div class="ttname"><a href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionObject &gt; CollisionObjectConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00041">collision_object.h:41</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query_html_a79959c89dd97acd563d023cf35fe5c14"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a79959c89dd97acd563d023cf35fe5c14">collision::solvers::solverFCL::CollisionRequestDataWindowQuery::getSubjectObject</a></div><div class="ttdeci">fcl::CollisionObject&lt; FCL_PRECISION &gt; * getSubjectObject(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00114">fcl_collision_requests.h:114</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html">collision::solvers::solverFCL::CollisionRequestDataOverlap</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00126">fcl_collision_requests.h:126</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles_html"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html">collision::solvers::solverFCL::CollisionDataListOfObstacles</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00197">fcl_collision_requests.h:197</a></div></div>
<div class="ttc" id="namespacecollision_html_a41db47b373df476bf4e0bd5cf7ed2d6b"><div class="ttname"><a href="namespacecollision.html#a41db47b373df476bf4e0bd5cf7ed2d6b">collision::CollisionCheckerPtr</a></div><div class="ttdeci">std::shared_ptr&lt; CollisionChecker &gt; CollisionCheckerPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00022">collision_checker.h:22</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a7293bf066387ca0ee33425842c5d81b9"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a7293bf066387ca0ee33425842c5d81b9">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_added_map_parent</a></div><div class="ttdeci">std::unordered_map&lt; const CollisionObject *, bool &gt; m_added_map_parent</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00091">fcl_collision_requests.h:91</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query_html_a477f109018386dea0c3c4992820d63e2"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a477f109018386dea0c3c4992820d63e2">collision::solvers::solverFCL::CollisionRequestDataWindowQuery::addRequestResultObstacle</a></div><div class="ttdeci">void addRequestResultObstacle(const CollisionObject *obst)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8cc_source.html#l00143">fcl_collision_requests.cc:143</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap_html_ab1e9150944fedd8e6d6dc9798e9e1d48"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html#ab1e9150944fedd8e6d6dc9798e9e1d48">collision::solvers::solverFCL::CollisionDataOverlap::CollisionDataOverlap</a></div><div class="ttdeci">CollisionDataOverlap(CollisionRequestDataOverlap &amp;reqData)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00192">fcl_collision_requests.h:192</a></div></div>
<div class="ttc" id="fcl__collision__object__group_8h_html"><div class="ttname"><a href="fcl__collision__object__group_8h.html">fcl_collision_object_group.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_afc5d7ae06794bfa872e7dcd10b61455c"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#afc5d7ae06794bfa872e7dcd10b61455c">collision::solvers::solverFCL::defaultCollisionFunctionOverlap</a></div><div class="ttdeci">bool defaultCollisionFunctionOverlap(fcl::CollisionObject&lt; S &gt; *o1, fcl::CollisionObject&lt; S &gt; *o2, void *cdata_)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00279">fcl_collision_requests.h:279</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa79198449b58b10b1c5daf62bb884ccf"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa79198449b58b10b1c5daf62bb884ccf">collision::solvers::solverFCL::defaultCollisionFunctionWindowQuery</a></div><div class="ttdeci">bool defaultCollisionFunctionWindowQuery(fcl::CollisionObject&lt; S &gt; *o1, fcl::CollisionObject&lt; S &gt; *o2, void *cdata_)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00212">fcl_collision_requests.h:212</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a85449ffab46bdfc734f5b5148f89a262"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a85449ffab46bdfc734f5b5148f89a262">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_added_map</a></div><div class="ttdeci">std::unordered_map&lt; const CollisionObject *, bool &gt; m_added_map</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00090">fcl_collision_requests.h:90</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query_html_ade5f42f1667f630222d92269c9a4fe13"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query.html#ade5f42f1667f630222d92269c9a4fe13">collision::solvers::solverFCL::CollisionDataWindowQuery::CollisionDataWindowQuery</a></div><div class="ttdeci">CollisionDataWindowQuery(CollisionRequestDataWindowQuery &amp;reqData)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00207">fcl_collision_requests.h:207</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_html_a3998dd02d15239f4e3b6efc166f6f91d"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a3998dd02d15239f4e3b6efc166f6f91d">collision::solvers::solverFCL::CollisionData::request</a></div><div class="ttdeci">fcl::CollisionRequest&lt; S &gt; request</div><div class="ttdoc">Collision request.</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00171">fcl_collision_requests.h:171</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html">collision::solvers::solverFCL::CollisionRequestDataWindowQuery</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00102">fcl_collision_requests.h:102</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query_html_ada137f65048438c4d0c76c6cbc712e07"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query.html#ada137f65048438c4d0c76c6cbc712e07">collision::solvers::solverFCL::CollisionDataWindowQuery::self_reqData</a></div><div class="ttdeci">CollisionRequestDataWindowQuery &amp; self_reqData</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00205">fcl_collision_requests.h:205</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data.html">collision::solvers::solverFCL::CollisionRequestData</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00033">fcl_collision_requests.h:33</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a9d50ef30918909309661a29113a99c3b"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a9d50ef30918909309661a29113a99c3b">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::addRequestResultObstacle</a></div><div class="ttdeci">bool addRequestResultObstacle(const CollisionObject *obst)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8cc_source.html#l00064">fcl_collision_requests.cc:64</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_a992966afc5a978f810fbf3d149962264"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a992966afc5a978f810fbf3d149962264">collision::solvers::solverFCL::CollisionRequestDataOverlap::CollisionRequestDataOverlap</a></div><div class="ttdeci">CollisionRequestDataOverlap(const ICollisionContainer *cont_1, const ICollisionContainer *cont_2)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00128">fcl_collision_requests.h:128</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a68052df11365a134b1b2ac718979c340"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a68052df11365a134b1b2ac718979c340">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::testPair</a></div><div class="ttdeci">bool testPair(std::pair&lt; fcl::CollisionObject&lt; FCL_PRECISION &gt; *, fcl::CollisionObject&lt; FCL_PRECISION &gt; * &gt; pair)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8cc_source.html#l00035">fcl_collision_requests.cc:35</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap_html"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_overlap.html">collision::solvers::solverFCL::CollisionDataOverlap</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00189">fcl_collision_requests.h:189</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a9943c4502e5ab5e9410bc427616f1717"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a9943c4502e5ab5e9410bc427616f1717">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::addRequestResultObstacleObject</a></div><div class="ttdeci">bool addRequestResultObstacleObject(CollisionObjectConstPtr obj)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8cc_source.html#l00049">fcl_collision_requests.cc:49</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_abe827612e28013062172e3859cd88dac"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#abe827612e28013062172e3859cd88dac">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::setUngroupShapeGroups</a></div><div class="ttdeci">void setUngroupShapeGroups(bool val)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00076">fcl_collision_requests.h:76</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_a4591c0f401f73e2a979a5ea81c470fbe"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a4591c0f401f73e2a979a5ea81c470fbe">collision::solvers::solverFCL::CollisionRequestDataOverlap::checkedPairs</a></div><div class="ttdeci">std::set&lt; std::pair&lt; fcl::CollisionObject&lt; FCL_PRECISION &gt; *, fcl::CollisionObject&lt; FCL_PRECISION &gt; * &gt; &gt; checkedPairs</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00153">fcl_collision_requests.h:153</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a569a5c927419e6c525a29a258752cf24"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a569a5c927419e6c525a29a258752cf24">collision::solvers::solverFCL::defaultCollisionFunction</a></div><div class="ttdeci">bool defaultCollisionFunction(fcl::CollisionObject&lt; S &gt; *o1, fcl::CollisionObject&lt; S &gt; *o2, void *cdata_)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00260">fcl_collision_requests.h:260</a></div></div>
<div class="ttc" id="classcollision_1_1_i_collision_container_html_aecf06ebcb250e9666348b566ba03ad49"><div class="ttname"><a href="classcollision_1_1_i_collision_container.html#aecf06ebcb250e9666348b566ba03ad49">collision::ICollisionContainer::queryContainedObjectIndexList</a></div><div class="ttdeci">virtual int queryContainedObjectIndexList(const CollisionObject *pObj, std::list&lt; int &gt; &amp;retlist) const =0</div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_ab748d4888cef2920c80c9a33d1b2daae"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ab748d4888cef2920c80c9a33d1b2daae">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_obstacle_callback_first</a></div><div class="ttdeci">bool m_obstacle_callback_first</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00095">fcl_collision_requests.h:95</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a618358d9fa7ce3b627b491f61f0d538e"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a618358d9fa7ce3b627b491f61f0d538e">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::setAllObst_added</a></div><div class="ttdeci">void setAllObst_added(void)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00079">fcl_collision_requests.h:79</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_afcc050013e4e0e25cb31add053709be1"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#afcc050013e4e0e25cb31add053709be1">collision::solvers::solverFCL::CollisionRequestDataOverlap::addRequestResultPair</a></div><div class="ttdeci">void addRequestResultPair(int o1, int o2)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8cc_source.html#l00017">fcl_collision_requests.cc:17</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_a4d2906fca7e4a2a368ce5038f284567f"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a4d2906fca7e4a2a368ce5038f284567f">collision::solvers::solverFCL::CollisionRequestDataOverlap::get_cont_1</a></div><div class="ttdeci">const ICollisionContainer * get_cont_1(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00148">fcl_collision_requests.h:148</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query_html_ad58833877cdff090faba9dfe590112dd"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#ad58833877cdff090faba9dfe590112dd">collision::solvers::solverFCL::CollisionRequestDataWindowQuery::m_subject_object</a></div><div class="ttdeci">fcl::CollisionObject&lt; FCL_PRECISION &gt; * m_subject_object</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00119">fcl_collision_requests.h:119</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a57cb09c6843bfa73c08e971beb8e4997"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a57cb09c6843bfa73c08e971beb8e4997">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::setUngroupTvObstacles</a></div><div class="ttdeci">void setUngroupTvObstacles(bool val)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00077">fcl_collision_requests.h:77</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_aceaf2e54b3deeb541c1d90a4e6cd6a14"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#aceaf2e54b3deeb541c1d90a4e6cd6a14">collision::solvers::solverFCL::CollisionRequestDataOverlap::get_cont_2</a></div><div class="ttdeci">const ICollisionContainer * get_cont_2(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00149">fcl_collision_requests.h:149</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_ade752e39c3d2cba0e67256a22b174918"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ade752e39c3d2cba0e67256a22b174918">collision::solvers::solverFCL::getParentPointerFromFclObj</a></div><div class="ttdeci">CollisionObject * getParentPointerFromFclObj(fcl::CollisionObject&lt; FCL_PRECISION &gt; *fcl_obj)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__queries_8cc_source.html#l00018">fcl_collision_queries.cc:18</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query_html_a1b2b0426cef2a3d66f29affeba1076e0"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a1b2b0426cef2a3d66f29affeba1076e0">collision::solvers::solverFCL::CollisionRequestDataWindowQuery::CollisionRequestDataWindowQuery</a></div><div class="ttdeci">CollisionRequestDataWindowQuery(fcl::CollisionObject&lt; FCL_PRECISION &gt; *subject_object, std::vector&lt; const CollisionObject * &gt; &amp;result, const std::unordered_map&lt; const collision::CollisionObject *, std::list&lt; CollisionObjectConstPtr &gt;&gt; &amp;parent_map)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00104">fcl_collision_requests.h:104</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query_html_a6515a40d8b814e8d1b936a8bfe300571"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html#a6515a40d8b814e8d1b936a8bfe300571">collision::solvers::solverFCL::CollisionRequestDataWindowQuery::m_result</a></div><div class="ttdeci">std::vector&lt; const CollisionObject * &gt; &amp; m_result</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00120">fcl_collision_requests.h:120</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a0dac9b7083ed799ca713f22951670247"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a0dac9b7083ed799ca713f22951670247">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::CollisionRequestDataMultipleObstacles</a></div><div class="ttdeci">CollisionRequestDataMultipleObstacles(std::vector&lt; CollisionObjectConstPtr &gt; &amp;ret_obstacles, const std::unordered_map&lt; const CollisionObject *, std::list&lt; CollisionObjectConstPtr &gt;&gt; &amp;parent_map, int max_obstacles)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00037">fcl_collision_requests.h:37</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a827371d8b466d06e2b70782196a89785"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a827371d8b466d06e2b70782196a89785">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_parent_map</a></div><div class="ttdeci">const std::unordered_map&lt; const CollisionObject *, std::list&lt; CollisionObjectConstPtr &gt; &gt; &amp; m_parent_map</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00089">fcl_collision_requests.h:89</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_ae4849cc4cc55850bdd5513ef743fd744"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#ae4849cc4cc55850bdd5513ef743fd744">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::setObstacleCallbackOrder</a></div><div class="ttdeci">void setObstacleCallbackOrder(void)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00068">fcl_collision_requests.h:68</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html"><div class="ttname"><a href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></div><div class="ttdoc">Base class for CollisionObjects and some of their groups.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00047">collision_object.h:47</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_html"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html">collision::solvers::solverFCL::CollisionData</a></div><div class="ttdoc">Collision data stores the collision request and the result given by collision algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00167">fcl_collision_requests.h:167</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_a66a1a35fa1422259035fb73065cd804c"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#a66a1a35fa1422259035fb73065cd804c">collision::solvers::solverFCL::CollisionRequestDataOverlap::getRequestResultPairs</a></div><div class="ttdeci">std::set&lt; std::pair&lt; int, int &gt; &gt; getRequestResultPairs() const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8cc_source.html#l00031">fcl_collision_requests.cc:31</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a4627053305944ae47c2353c320405204"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a4627053305944ae47c2353c320405204">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::m_max_obstacles</a></div><div class="ttdeci">int m_max_obstacles</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00099">fcl_collision_requests.h:99</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap_html_ac76ce74633a8b9ae104fc0ea746cbc5c"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_overlap.html#ac76ce74633a8b9ae104fc0ea746cbc5c">collision::solvers::solverFCL::CollisionRequestDataOverlap::m_cont_2</a></div><div class="ttdeci">const ICollisionContainer * m_cont_2</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00157">fcl_collision_requests.h:157</a></div></div>
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